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<div class="title">io.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_IO_IMPL_IO_HPP_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_IO_IMPL_IO_HPP_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/concatenate.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/copy_point.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="group__common.html#gaad9e56869486f44e2caa30a584c1b734">   50</a></span>&#160;<a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;, </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                    <span class="keyword">const</span> std::string &amp;field_name, </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                    std::vector&lt;pcl::PCLPointField&gt; &amp;fields)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  fields.clear ();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// Get the fields list</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  pcl::for_each_type&lt;typename pcl::traits::fieldList&lt;PointT&gt;::type&gt;(<a class="code" href="structpcl_1_1detail_1_1_field_adder.html">pcl::detail::FieldAdder&lt;PointT&gt;</a>(fields));</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; fields.size (); ++d)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">if</span> (fields[d].name == field_name)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(d));</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="group__common.html#ga21f637d9f7422a769448983af5fcbdeb">   65</a></span>&#160;<a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (<span class="keyword">const</span> std::string &amp;field_name, </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                    std::vector&lt;pcl::PCLPointField&gt; &amp;fields)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  fields.clear ();</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="comment">// Get the fields list</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  pcl::for_each_type&lt;typename pcl::traits::fieldList&lt;PointT&gt;::type&gt;(<a class="code" href="structpcl_1_1detail_1_1_field_adder.html">pcl::detail::FieldAdder&lt;PointT&gt;</a>(fields));</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; fields.size (); ++d)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">if</span> (fields[d].name == field_name)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(d));</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">return</span> (-1);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">   79</a></span>&#160;<a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;, std::vector&lt;pcl::PCLPointField&gt; &amp;fields)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;{</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  fields.clear ();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="comment">// Get the fields list</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  pcl::for_each_type&lt;typename pcl::traits::fieldList&lt;PointT&gt;::type&gt;(<a class="code" href="structpcl_1_1detail_1_1_field_adder.html">pcl::detail::FieldAdder&lt;PointT&gt;</a>(fields));</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;}</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="group__common.html#gae88a16c0d6d70da8978ead0bb4e8e766">   88</a></span>&#160;<a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (std::vector&lt;pcl::PCLPointField&gt; &amp;fields)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;{</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  fields.clear ();</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="comment">// Get the fields list</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  pcl::for_each_type&lt;typename pcl::traits::fieldList&lt;PointT&gt;::type&gt;(<a class="code" href="structpcl_1_1detail_1_1_field_adder.html">pcl::detail::FieldAdder&lt;PointT&gt;</a>(fields));</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; std::string</div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="group__common.html#gaabed3f370d11ba5dc154d79e682d35b4">   97</a></span>&#160;<a class="code" href="group__common.html#gaabed3f370d11ba5dc154d79e682d35b4">pcl::getFieldsList</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;{</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="comment">// Get the fields list</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  pcl::for_each_type&lt;typename pcl::traits::fieldList&lt;PointT&gt;::type&gt;(<a class="code" href="structpcl_1_1detail_1_1_field_adder.html">pcl::detail::FieldAdder&lt;PointT&gt;</a>(fields));</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  std::string result;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; fields.size () - 1; ++i)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    result += fields[i].name + <span class="stringliteral">&quot; &quot;</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  result += fields[fields.size () - 1].name;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="group__common.html#gaff182bca8d0295d727baaa1fd368c6ad">  111</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordflow">if</span> (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () == 0)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">if</span> (isSamePointType&lt;PointInT, PointOutT&gt; ())</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="comment">// Copy the whole memory block</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    memcpy (&amp;cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0], &amp;cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0], cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () * sizeof (PointInT));</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <a class="code" href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">copyPoint</a> (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="group__common.html#gab99511f54b952b8a5608e4ed7f41a68d">  137</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;{</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="comment">// Do we want to copy everything?</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordflow">if</span> (indices.size () == cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    cloud_out = cloud_in;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (indices.size ());</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(indices.size ());</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]];</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;}</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="group__common.html#ga6531a806d1c7ac0d5c23f79f673db191">  164</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                     <span class="keyword">const</span> std::vector&lt;<span class="keywordtype">int</span>, Eigen::aligned_allocator&lt;int&gt; &gt; &amp;indices,</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;{</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="comment">// Do we want to copy everything?</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keywordflow">if</span> (indices.size () == cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    cloud_out = cloud_in;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (indices.size ());</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (indices.size ());</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]];</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;}</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="group__common.html#ga4e98fb8923a6d8c4dab35ff96c7b1dd6">  191</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;{</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (indices.size ());</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = uint32_t (indices.size ());</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <a class="code" href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">copyPoint</a> (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]], cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;}</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="group__common.html#gafeb71f88a4e674ec4d156d013c8bb393">  211</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                     <span class="keyword">const</span> std::vector&lt;<span class="keywordtype">int</span>, Eigen::aligned_allocator&lt;int&gt; &gt; &amp;indices,</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;{</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (indices.size ());</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (indices.size ());</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <a class="code" href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">copyPoint</a> (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]], cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="group__common.html#ga44ece0c2faffdb26cd75417200454577">  231</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;{</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="comment">// Do we want to copy everything?</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordflow">if</span> (indices.indices.size () == cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    cloud_out = cloud_in;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (indices.indices.size ());</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = indices.indices.size ();</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.indices.size (); ++i)</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices.indices[i]];</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;}</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="group__common.html#ga67ab079e174e900e6e0b235fb88d7160">  258</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;{</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">copyPointCloud</a> (cloud_in, indices.indices, cloud_out);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;}</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="group__common.html#gaafe5bf1194ffaad83a2fc04cde6b20e4">  267</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                     <span class="keyword">const</span> std::vector&lt;pcl::PointIndices&gt; &amp;indices,</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;{</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordtype">int</span> nr_p = 0;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    nr_p += indices[i].indices.size ();</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="comment">// Do we want to copy everything? Remember we assume UNIQUE indices</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="keywordflow">if</span> (nr_p == cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    cloud_out = cloud_in;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (nr_p);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = nr_p;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="comment">// Iterate over each cluster</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordtype">int</span> cp = 0;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cc = 0; cc &lt; indices.size (); ++cc)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="comment">// Iterate over each idx</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices[cc].indices.size (); ++i)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="comment">// Iterate over each dimension</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cp] = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[cc].indices[i]];</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      cp++;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  }</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;}</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="group__common.html#gaa5ab28ac738a42a65f9f2033d6b33252">  307</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                     <span class="keyword">const</span> std::vector&lt;pcl::PointIndices&gt; &amp;indices,</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;{</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keywordtype">int</span> nr_p = 0;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    nr_p += indices[i].indices.size ();</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="comment">// Do we want to copy everything? Remember we assume UNIQUE indices</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keywordflow">if</span> (nr_p == cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    copyPointCloud&lt;PointInT, PointOutT&gt; (cloud_in, cloud_out);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  }</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (nr_p);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = nr_p;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="comment">// Iterate over each cluster</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="keywordtype">int</span> cp = 0;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cc = 0; cc &lt; indices.size (); ++cc)</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <span class="comment">// Iterate over each idx</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices[cc].indices.size (); ++i)</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    {</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <a class="code" href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">copyPoint</a> (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[cc].indices[i]], cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cp]);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      ++cp;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    }</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;}</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>In1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>In2T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="group__common.html#gac6add803f86fd16a998dce541e9ef402">  346</a></span>&#160;<a class="code" href="group__common.html#gac6add803f86fd16a998dce541e9ef402">pcl::concatenateFields</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointIn1T&gt;</a> &amp;cloud1_in,</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;                        <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointIn2T&gt;</a> &amp;cloud2_in,</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;                        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;{</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointIn1T&gt;::type</a> FieldList1;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointIn2T&gt;::type</a> FieldList2;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  <span class="keywordflow">if</span> (cloud1_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != cloud2_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  {</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::concatenateFields] The number of points in the two input datasets differs!\n&quot;</span>);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  }</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="comment">// Resize the output dataset</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (cloud1_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud1_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = cloud1_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = cloud1_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  <span class="keywordflow">if</span> (!cloud1_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> || !cloud2_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  {</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    <span class="comment">// Iterate over each dimension</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    pcl::for_each_type &lt;FieldList1&gt; (<a class="code" href="structpcl_1_1_nd_concatenate_functor.html">pcl::NdConcatenateFunctor &lt;PointIn1T, PointOutT&gt;</a> (cloud1_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]));</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    pcl::for_each_type &lt;FieldList2&gt; (<a class="code" href="structpcl_1_1_nd_concatenate_functor.html">pcl::NdConcatenateFunctor &lt;PointIn2T, PointOutT&gt;</a> (cloud2_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]));</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  }</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;}</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="group__common.html#ga4d12b955edd61947ed984e46d65b0046">  380</a></span>&#160;<a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;                     <span class="keywordtype">int</span> top, <span class="keywordtype">int</span> bottom, <span class="keywordtype">int</span> left, <span class="keywordtype">int</span> right, pcl::InterpolationType border_type, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; value)</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;{</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <span class="keywordflow">if</span> (top &lt; 0 || left &lt; 0 || bottom &lt; 0 || right &lt; 0)</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    std::string faulty = (top &lt; 0) ? <span class="stringliteral">&quot;top&quot;</span> : (left &lt; 0) ? <span class="stringliteral">&quot;left&quot;</span> : (bottom &lt; 0) ? <span class="stringliteral">&quot;bottom&quot;</span> : <span class="stringliteral">&quot;right&quot;</span>;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_bad_argument_exception.html">pcl::BadArgumentException</a>, <span class="stringliteral">&quot;[pcl::copyPointCloud] error: &quot;</span> &lt;&lt; faulty &lt;&lt; <span class="stringliteral">&quot; must be positive!&quot;</span>);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  }</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  <span class="keywordflow">if</span> (top == 0 &amp;&amp; left == 0 &amp;&amp; bottom == 0 &amp;&amp; right == 0)</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;   cloud_out = cloud_in;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  {</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + left + right;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> + top + bottom;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="keywordflow">if</span> (cloud_out.size () != cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>)</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    <span class="keywordflow">if</span> (border_type == pcl::BORDER_TRANSPARENT)</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    {</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* in = &amp;(cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* out = &amp;(cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* out_inner = out + cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>*top + left;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>; i++, out_inner += cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, in += cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>)</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      {</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        <span class="keywordflow">if</span> (out_inner != in)</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;          memcpy (out_inner, in, cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * sizeof (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>));</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      }</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    }</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <span class="comment">// Copy the data</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      <span class="keywordflow">if</span> (border_type != pcl::BORDER_CONSTANT)</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      {</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        <span class="keywordflow">try</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          std::vector&lt;int&gt; padding (cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> - cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;          <span class="keywordtype">int</span> right = cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> - cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> - left;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          <span class="keywordtype">int</span> bottom = cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> - cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> - top;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; left; i++)</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;            padding[i] = pcl::interpolatePointIndex (i-left, cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, border_type);</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; right; i++)</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;            padding[i+left] = pcl::interpolatePointIndex (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+i, cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, border_type);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* in = &amp;(cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;          <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* out = &amp;(cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]);</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* out_inner = out + cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>*top + left;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>; i++, out_inner += cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, in += cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>)</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;          {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;            <span class="keywordflow">if</span> (out_inner != in)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;              memcpy (out_inner, in, cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * sizeof (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>));</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; left; j++)</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;              out_inner[j - left] = in[padding[j]];</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; right; j++)</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;              out_inner[j + cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>] = in[padding[j + left]];</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;          }</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; top; i++)</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;          {</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;            <span class="keywordtype">int</span> j = pcl::interpolatePointIndex (i - top, cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, border_type);</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;            memcpy (out + i*cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>,</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;                    out + (j+top) * cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>,</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;                    sizeof (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) * cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;          }</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160; </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; bottom; i++)</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;          {</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;            <span class="keywordtype">int</span> j = pcl::interpolatePointIndex (i + cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, border_type);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;            memcpy (out + (i + cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> + top)*cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>,</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;                    out + (j+top)*cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>,</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;                    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * sizeof (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>));</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;          }</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        }</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        <span class="keywordflow">catch</span> (<a class="code" href="classpcl_1_1_bad_argument_exception.html">pcl::BadArgumentException</a> &amp;e)</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        {</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;[pcl::copyPointCloud] Unhandled interpolation type %d!\n&quot;</span>, border_type);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        }</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      }</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      {</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;        <span class="keywordtype">int</span> right = cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> - cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> - left;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        <span class="keywordtype">int</span> bottom = cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> - cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> - top;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        std::vector&lt;PointT&gt; buff (cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, value);</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* buff_ptr = &amp;(buff[0]);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* in = &amp;(cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]);</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* out = &amp;(cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* out_inner = out + cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>*top + left;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>; i++, out_inner += cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, in += cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>)</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;        {</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;          <span class="keywordflow">if</span> (out_inner != in)</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;            memcpy (out_inner, in, cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * sizeof (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>));</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;          memcpy (out_inner - left, buff_ptr, left  * <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>));</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;          memcpy (out_inner + cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, buff_ptr, right * sizeof (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>));</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        }</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; top; i++)</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        {</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;          memcpy (out + i*cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, buff_ptr, cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * sizeof (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>));</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        }</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; bottom; i++)</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        {</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;          memcpy (out + (i + cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> + top)*cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>,</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;                  buff_ptr,</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;                  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * sizeof (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>));</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        }</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      }</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    }</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  }</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;}</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_IO_IMPL_IO_H_</span></div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_bad_argument_exception_html"><div class="ttname"><a href="classpcl_1_1_bad_argument_exception.html">pcl::BadArgumentException</a></div><div class="ttdoc">An exception that is thrown when the argments number or type is wrong/unhandled.</div><div class="ttdef"><b>Definition:</b> exceptions.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="agroup__common_html_gaa2ff830572b7cbf2fd8ce335fd9ca4fb"><div class="ttname"><a href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a></div><div class="ttdeci">void getFields(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, std::vector&lt; pcl::PCLPointField &gt; &amp;fields)</div><div class="ttdoc">Get the list of available fields (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.hpp:79</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="agroup__common_html_gaabed3f370d11ba5dc154d79e682d35b4"><div class="ttname"><a href="group__common.html#gaabed3f370d11ba5dc154d79e682d35b4">pcl::getFieldsList</a></div><div class="ttdeci">std::string getFieldsList(const pcl::PointCloud&lt; PointT &gt; &amp;cloud)</div><div class="ttdoc">Get the list of all fields available in a given cloud</div><div class="ttdef"><b>Definition:</b> io.hpp:97</div></div>
<div class="ttc" id="agroup__common_html_gab978bf1754771246b2f140a5b52a8f8b"><div class="ttname"><a href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">pcl::copyPoint</a></div><div class="ttdeci">void copyPoint(const PointInT &amp;point_in, PointOutT &amp;point_out)</div><div class="ttdoc">Copy the fields of a source point into a target point.</div><div class="ttdef"><b>Definition:</b> copy_point.hpp:138</div></div>
<div class="ttc" id="agroup__common_html_gac6add803f86fd16a998dce541e9ef402"><div class="ttname"><a href="group__common.html#gac6add803f86fd16a998dce541e9ef402">pcl::concatenateFields</a></div><div class="ttdeci">void concatenateFields(const pcl::PointCloud&lt; PointIn1T &gt; &amp;cloud1_in, const pcl::PointCloud&lt; PointIn2T &gt; &amp;cloud2_in, pcl::PointCloud&lt; PointOutT &gt; &amp;cloud_out)</div><div class="ttdoc">Concatenate two datasets representing different fields.</div><div class="ttdef"><b>Definition:</b> io.hpp:346</div></div>
<div class="ttc" id="astructpcl_1_1_nd_concatenate_functor_html"><div class="ttname"><a href="structpcl_1_1_nd_concatenate_functor.html">pcl::NdConcatenateFunctor</a></div><div class="ttdoc">Helper functor structure for concatenate.</div><div class="ttdef"><b>Definition:</b> concatenate.h:65</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_field_adder_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_field_adder.html">pcl::detail::FieldAdder</a></div><div class="ttdef"><b>Definition:</b> conversions.h:66</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
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